public void PlotSpeed()
{
int cnt = 0;
foreach (var it in speedChart.Series)
{
it.Points.Clear();
}
SpeedPackage[] buf;
Thread.BeginCriticalRegion();
buf = new SpeedPackage[packMgr.SpeedBuf.Count];
packMgr.SpeedBuf.CopyTo(buf);
Thread.EndCriticalRegion();
foreach (SpeedPackage it in buf)
{
//if (it.SpeedL > -128 && it.SpeedL < 128)
speedChart.Series[0].Points.AddXY(cnt, it.SpeedL);
//if (it.SpeedR > -128 && it.SpeedR < 128)
speedChart.Series[1].Points.AddXY(cnt, it.SpeedR);
speedChart.Series[2].Points.AddXY(cnt, it.DutyL);
speedChart.Series[3].Points.AddXY(cnt, it.DutyR);
++cnt;
}
}
private void AnalysePackages(MainForm owner)
{ // 解析当前帧，判定是那个数据包
SpeedPackage speed = new SpeedPackage();
SteerPackage steering = new SteerPackage();
DeepPackage deep = new DeepPackage();
switch (rxBuffer[0])
{
case 0x8a: // 方向
steering.DecodePayload(rxBuffer);
SteerBuf.Add(steering);
break;
case 0x8b: // 速度
speed.DecodePayload(rxBuffer);
if (SpeedBuf.Count > 999)
{
SpeedBuf.RemoveAt(0);
}
SpeedBuf.Add(speed);
owner.BeginInvoke(new MethodInvoker(() =>
{
owner.lblSpeedL.Text = "左轮速度：" + speed.SpeedL.ToString() + " cm/s";
owner.lblSpeedR.Text = "右轮速度：" + speed.SpeedR.ToString() + " cm/s";
}));
break;
case 0x8c: // AI
deep.DecodePayload(rxBuffer);
MagBuf.Add(deep);
break;
case 0x8d: // 开关
owner.BeginInvoke(new MethodInvoker(() =>
{
for (int i = 0; i < 8; ++i)
{
owner.checkedListBox.SetItemChecked(i, (rxBuffer[1] & (1 << i)) > 0);
}
}));
break;
case 0x8e: // 电磁
break;
case 0x8f: // 日志
string str = Encoding.UTF8.GetString(rxBuffer, 2, bufTop - 3);
Color color = Color.Black;
switch (rxBuffer[1])
{
case 1: color = Color.Red; break;
case 2: color = Color.Green; break;
case 3: color = Color.Blue; break;
}
owner.BeginInvoke(new MethodInvoker(() =>
{
owner.richLogBox.SelectionColor = color;
owner.richLogBox.AppendText(str);
}));
break;
default: break;
}
}